Ablated object region determining apparatuses and methods

ABSTRACT

Ablated object region determining apparatuses and methods for determining an ablated object region for ablating an object of interest are provided. A user can set an orientation and position of an ablation element with respect to a geometrical representation of the object of interest, at least one energy influencing element and a spatial relationship between the object of interest and the at least one energy influencing element. A model ablation region retrieving unit retrieves a model ablation region depending on the respective set orientation and position of the ablation element from a model ablation region storing unit. An ablated object region determining unit determines at least one of a) an ablated object region of the object of interest being located within the retrieved model ablation region and b) a non-ablated object region of the object of interest being located outside the retrieved model ablation region.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a division of U.S. patent application Ser. No.12/702,639 entitled “ABLATED OBJECT REGION DETERMINING APPARATUSES ANDMETHODS,” filed on Feb. 9, 2010 now U.S. Pat. No. 8,600,719, which isincorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to an ablated object region determiningapparatus, an ablated object region determining method and an ablatedobject region determining computer program for planning an ablationprocedure for ablating an object of interest. The present disclosurerelates further to a model ablation region determining apparatus, amodel ablation region determining method and a model ablation regiondetermining computer program for determining model ablation regions.Moreover, the present disclosure relates to an arranging apparatus, anarranging method and an arranging computer program for arranging anablation element within an object.

BACKGROUND

The article “Technologies for Guidance of Radiofrequency Ablation in theMultimodality Interventional Suite of the Future”, Bradford J. Wood etal., Journal of Vascular Interventional Radiology, 2007 Jan., 18: pages9 to 24 discloses methods for ablation planning for ablating an objectof interest like a tumor or metastasis. The methods include calculatinga temperature distribution under consideration of an arrangement of anablation element with respect to the object of interest and with respectto blood vessels having a cooling effect and determining the parts ofthe object of interest having a temperature being large enough forablating these parts. If there are parts of the object havingtemperatures being too small for being ablated, the orientation and/orposition of the ablation element can be modified and the calculation ofthe temperature distribution and the determination of the parts of theobject of interest with temperatures being large enough for beingablated can be repeated. This modification, calculation anddetermination procedure is repeated until an orientation and position ofthe ablation element has been found which allow ablating the object ofinterest completely.

For calculating the temperature distribution complicated non-lineardifferential equations have to be solved, where the nonlinearity arisesfrom the fact that for example, material parameters like the thermalconductivity of tissue change with temperature. This calculation of thetemperature distribution requires high computational costs leading to along period of time needed for ablation planning.

SUMMARY

This disclosure describes an ablated object region determiningapparatus, an ablated object region determining method and an ablatedobject region determining computer program for determining an ablatedobject region for ablating an object of interest, wherein thedetermination of an ablated object region can be accurately achievedwithin a shorter period of time, in particular, within a few seconds,interactively. The disclosure relates further to a corresponding modelablation region determining apparatus, model ablation region determiningmethod and model ablation region determining computer program fordetermining model ablation regions, and to a corresponding arrangingapparatus, arranging method and arranging computer program for arrangingan ablation element within or in the vicinity of an object of interest.

In one aspect an ablated object region determining apparatus fordetermining an ablated object region for ablating an object of interestis presented, wherein the ablated object region determining apparatuscomprises:

-   -   a geometrical representation providing unit for providing a        geometrical representation of the object of interest, of at        least one energy influencing element and of a spatial        relationship between the object of interest and the at least one        energy influencing element,    -   an ablation element setting unit for allowing a user to set an        orientation and position of an ablation element with respect to        the provided geometrical representation,    -   a model ablation region storing unit, in which model ablation        regions are stored depending on a spatial relationship between a        model ablation element and at least one model energy influencing        element, wherein a model ablation region defines a region, which        will be ablated given a respective spatial relationship between        the model ablation element and the at least one model energy        influencing element,    -   a model ablation region retrieving unit for retrieving a model        ablation region, which corresponds to the spatial relationship        between the ablation element in the set orientation and in the        set position and the at least one energy influencing element        represented by the provided geometrical representation, from the        model ablation region storing unit,    -   an ablated object region determining unit for determining at        least one of a) an ablated object region of the object of        interest being located within the retrieved model ablation        region and b) a non-ablated object region of the object of        interest being located outside the retrieved model ablation        region.

Since the model ablation regions are predetermined and since therespective model ablation region has just to be retrieved from the modelablation region storing unit by the model ablation region retrievingunit, an accurately determined ablated object region can quickly beprovided for ablation planning. The determination of the model ablationregions is decoupled from the determination of at least one of anablated object region and of a non-ablated object region of the objectof interest. The model ablation regions can therefore be determined inadvance very accurately, and even if this accurate determination of themodel ablation regions takes a relatively long time, this does notaffect the time needed for determining at least one of an ablated objectregion and a non-ablated object region of the object of interest. Thus,the ablated object region determining apparatus allows determining anablated object region accurately and very fast, in particular, within afew seconds, interactively.

In some embodiments, the ablated object region determining unit furthercomprises a display unit for visualizing the ablated object region ofthe object and the non-ablated object region of the object differently,if the ablated object region determining unit has determined an ablatedobject region of the object of interest and a non-ablated object regionof the object of interest.

In some embodiments, the geometrical representation providing unitcomprises an image data set providing unit for providing a segmentedimage data set representing the object of interest, at least one energyinfluencing element and a spatial relationship between the object ofinterest and the at least one energy influencing element.

In some embodiments, the image data set is a medical image data setshowing the entire body or a part of a body of a person or of an animal.For example, the image data set is an image data set showing an organlike the lung or the liver.

In some embodiments, the image data set is generated by an imagingmodality like a computed tomography imaging system, a magnetic resonanceimaging system, a nuclear medicine imaging system like a positronemission tomography system or a single photon emission computedtomography imaging system, or an ultrasound imaging system.

In some embodiments, the object of interest is a lesion, a metastasis ora primary tumor and the at least one energy influencing element is ablood vessel. The object of interest and the at least one energyinfluencing element can be segmented by using known techniques likethresholding.

The image data set providing unit can comprise at least one of the abovementioned imaging systems for generating the image data set and asegmentation unit for segmenting at least the object of interest and theat least one energy influencing element within the image data set. Theimage data set providing unit can also be a storing unit, in which thesegmented image data set is stored. Moreover, the image data setproviding unit can be a receiving unit for receiving the segmented imagedata set and for providing the received segmented image data set to theablation element setting unit. The receiving unit can be adapted forreceiving the segmented image data set via a wired or wireless datalink.

A geometrical description of the ablation element and/or the at leastone energy influencing element can be provided as one or several of thefollowing:

-   -   one or several cylinders having circular or polygonal        cross-section, parameterized by the radius, height, position,        and orientation of the one or several cylinders;    -   a number of polyhedra that make up a closed surface, where the        polyhedra are for example parameterized by the coordinates of        their vertices;    -   an implicit function representation, that is, a real-valued        function on a three-dimensional set that takes values of a        certain sign inside the ablation element (or inside the at least        one energy influencing element, respectively) and values of the        opposite sign outside the ablation element (or inside the at        least one energy influencing element, respectively).

In addition to providing the geometrical representation of the object ofinterest and the at least on energy influencing element, the geometricalrepresentation providing unit can be adapted to additionally provide thegeometry and the spatial relation of structures in the body of a personor an animal, which are in the vicinity of the object of interest. Forexample, the geometrical representation providing unit describes thegeometry of and the spatial relation between a lesion inside the liver,the liver, the vascular systems surrounding the lesion, the bonessurrounding the liver, the intestines, the diaphragm, and otherstructures that influence the energy distribution or that must not beharmed during an ablation therapy.

In this document ablation is the thermal destruction of biologicaltissue by means of introducing additional energy into the tissue or bymeans of extracting energy from the tissue.

The ablation element is a physical device, which is placed, in someembodiments, interstitially inside the tissue in order to achieve theintroduction of energy into the tissue or to achieve the extraction ofenergy from the tissue. For example, in the case of radio-frequencyablation, the ablation element is a needle-shaped probe containing atleast one electrode which is connected to an electric generator. In thecase of cryo-ablation, the ablation element is a cryo probe, providing acooling or freezing of the tissue.

In some embodiments, the ablation element setting unit comprises agraphical user interface which allows arranging a graphical model of theablation element within the segmented image data set on a display unit.The graphical model of the ablation element has an elongated shape, inparticular, the shape of the real ablation element, wherein a user canset a desired position and orientation of the graphical model within thesegmented image data set, for example, by using input means like akeyboard, a computer mouse or a computer pen.

In particular, the graphical model representing the ablation element canconsist of geometric primitives, such as a cylinder with a cone as tip.There exist several possibilities for the user to set a desired positionand orientation of the graphical model of the ablation element withinthe segmented image data set: one possibility for example is to use onemouse click to set the peak of the graphical model of the ablationelement and to use a second mouse click to set a point on the shaft ofthe graphical model of the ablation element. Moreover, while the mousebutton is held, the graphical model of the ablation element can be movedand rotated. A further option is to directly enter the coordinates andthe orientation of the graphical model of the ablation element via thekeyboard. Other input options can be similarly incorporated.

In one embodiment, the model ablation regions, which are stored in themodel ablation region storing unit, are determined by solving linear ornon-linear equations indicative of assumed or known material properties(e.g., thermal and physical conductivities) of the object of interestand of the environment of the object of interest for determining anenergy distribution depending on the spatial relationship and bydetermining a region, in which the determined energy distributionexceeds a threshold, as model ablation region. A non-linearity of theequations considers material parameters of the materials of the objectof interest and of the environment of the object of interest whichchange with the state or the temperature of the object of interestand/or of the environment of the object of interest. A state of theobject of interest and/or of the environment of the object is, forexample, the coagulation state, the protein composition, the watercontent, et cetera. For example, a non-linearity of the equationsconsiders the thermal conductivity, which changes with the temperature.The energy distribution is determined by the Bioheat-Transfer-Equationcoupled with another equation, which determines the energy delivered bythe model ablation element, e.g., the electrostatic equation in case ofradiofrequency ablation. The model energy influencing element is treatedas part of the Bioheat-Transfer-Equation either as an energy source/sinkterm, as a transport term, as a diffusion term, or as boundaryconditions for the energy or the energy flux. Several physical factors,i.e., material properties, can be considered, which influence the energydistribution, such as the electrical and thermal conductivity of thetissue, the density and heat capacity of the tissue, as well as therelative perfusion rate. Also phase changes, such as the vaporization ofwater can be accounted for. Furthermore, for example, the so-calledArrhenius-formalism can be used to calculate the region which isconsidered as destroyed, i.e., to calculate a model ablation region (seee.g., I. Altrogge et al.: Multi-Scale Optimization of the ProbePlacement for Radio-Frequency Ablation, Acad. Rad. 14(11), pp.1310-1324, 2007, and T. Kröoger et al.: Numerical Simulation of RadioFrequency Ablation with State Dependent Material Parameters, LectureNotes in Computer Science, 4191, pp. 380-388, 2006).

A more detailed description of the calculation of the energydistribution is described in, for example, the above mentioned articleby Wood et al., in the article “Thermal modeling of lesion growth withradiofrequency ablation devices”, Isaac A. Chang and Uyen D. Nguyen,BioMedical Engineering, OnLine, 3:27, published 6 Aug. 2004, in thearticle “Multi-Scale Optimization of the Probe Placement forRadio-Frequency Ablation”, Altrogge, Inga; Preusser, Tobias; Kroeger,Tim; Bueskens, Christof; Pereira, Philippe L.; Schmidt, Diethard;Peitgen, Heinz-Otto, Academic Radiology 14,11 pages 1310-1324, published2007 and in the article “Numerical Simulation of Radio FrequencyAblation with State Dependent Material Parameters in Three SpaceDimensions”, Kroeger, Tim; Altrogge, Inga; Preusser, Tobias; Pereira,Philippe L.; Schmidt, Diethard; Weihusen, Andreas; Peitgen, Heinz-Otto,Lecture Notes on Computer Science 4191, pages 380-388, published 2006;which are herewith incorporated by reference in their entireties.

In some embodiments, the energy distribution is a temperaturedistribution, wherein, if the ablation should be performed by heatingthe object of interest, the model ablation element is regarded as a heatsource and the model energy influencing element is regarded as a heatsink. If the ablation procedure should be performed by cooling theobject of interest, i.e. if the ablation procedure is a cryo-ablationprocedure, the model ablation element is regarded as a heat sink and themodel energy influencing element is regarded as a heat source.

In some embodiments, the determined model ablation regions are stored ina look-up table (LUT) in the model ablation region storing unit. The atleast one energy influencing element is a vessel like a blood vessel.The energy influencing element can also be another element, whichinfluences the energy distribution, for example, a metal element withina person like a metal element of a prosthesis.

The model ablation region retrieving unit can be adapted to retrieveseveral model ablation regions which correspond to differentcombinations of locations on or within the ablation element andlocations on or within the at least one energy influencing element. Theablated object region determining unit can then be adapted to determineat least one of a) an ablated object region of the object being locatedwithin at least one of the retrieved model ablation regions and b) anon-ablated object region of the object being located outside of all ofthe retrieved model ablation regions.

In the context of this description, an ablated object region shall meana region of the object of interest which would be ablated if theablation element would be used in a therapy for ablating the object withthe parameters set by the ablation element setting unit. Theseparameters are at least the orientation and the position of the ablationelement with respect to the provided geometrical representation. Thenon-ablated object region is a region of the object, which would not beablated by the ablation element, if the parameters set by the ablationelement setting unit would be used in a therapy.

A model ablation element is a possibly idealized representation of theablation element, which mathematically models the real ablation element,and which can be used in the linear or non-linear equations fordetermining the model ablation regions. For example, in the case ofradio-frequency ablation the model ablation element can be a tube or acylinder with a polygonal cross section.

A model energy influencing element is a possibly idealizedrepresentation of the energy influencing element, which mathematicallymodels the real energy influencing element, and which can be used in thelinear or non-linear equations for determining the model ablationregions. For example, in the case the energy influencing element is ablood vessel, a model energy influencing element can be a tube or acylinder with a polygonal cross section, with finite or infinite length,possibly comprising furcations.

In some embodiments,

-   -   the geometrical representation providing unit is adapted to        provide a geometrical representation of a blood vessel being the        at least one energy influencing element and of a spatial        relationship between the object of interest and the blood        vessel,    -   the model ablation region storing unit is adapted to store model        ablation regions depending on a spatial relationship between a        model blood vessel being the model energy influencing element        and the model ablation element,    -   the model ablation region retrieving unit is adapted to retrieve        a model ablation region, which corresponds to the spatial        relationship between the ablation element in the set orientation        and in the set position and the blood vessel represented by the        provided geometrical representation, from the model ablation        region storing unit.

This allows fast and accurately determining whether the object ofinterest, which is a tumor or metastasis, will be completely ablated, ifa blood vessel is present in the environment of the object of interest.

In some embodiments,

-   -   the geometrical representation providing unit is adapted to        provide a geometrical representation of a vessel tree and of a        spatial relationship between the vessel tree and the object of        interest,    -   the model ablation region storing unit is adapted to store model        ablation regions depending on a spatial relationship between a        model vessel section being a model energy influencing element        and the model ablation element,    -   the model ablation region retrieving unit is adapted to divide        the vessel tree in vessel sections and to retrieve for each        combination of vessel section and set orientation and position        of the ablation element a model ablation region, which        corresponds to the spatial relationship between the ablation        element in the set orientation and in the set position and the        vessel section of the respective combination, from the model        ablation region storing unit,    -   the ablated object region determining unit is adapted to        determine at least one of a) an ablated object region of the        object of interest and b) a non-ablated object region of the        object of interest depending on the retrieved model ablation        regions.

In some embodiments, the vessel sections are linear vessel sections.

The indefinite article “a” or “an” does not exclude a plurality. Forexample, the geometrical representation providing unit can be adapted toprovide a geometrical representation of one or several vessel trees andof a spatial relationship between the one or several vessel trees andthe object of interest. In particular, if the object of interest islocated within or close to a liver, the geometrical representationproviding unit can be adapted to provide a geometrical representation ofthe three vessel trees of the liver and of a spatial relationshipbetween these three vessel trees and the object of interest.

In some embodiments, the ablated object determining unit is adapted todetermine at least one of a) an ablated object region of the object ofinterest being located at least within one of the retrieved modelablation regions and b) a non-ablated object region of the object ofinterest being located outside of each of the retrieved model ablationregions.

This allows accurately determining the influence of a vessel tree, i.e.,one or several vessel trees, on an ablation process with lowcomputational costs, even if the vessel tree has a complicatedstructure. If the ablated object region and the non-ablated objectregion are determined in this way, it is not necessary to store ablationregions in the ablation region storing unit, which have been determinedby considering different spatial relationships between a complicatedvessel structure and an ablation element. In this case, the ablationregions are predetermined for simple spatial relationships between avessel section and an ablation element, wherein these predeterminedablation regions can be used later during an actual ablated objectregion determining procedure for determining whether the object ofinterest would be completely ablated under consideration of the vesselstructure.

The model ablation region storing unit may be adapted to store modelablation regions depending on a distance between a model vessel sectionbeing a model energy influencing element and the model ablation element.

In particular, in some embodiments, the model ablation region storingunit is adapted to store model ablation regions depending on thedistance between a model vessel section and the model ablation elementonly. If it is assumed that the influence of the diameter, of the kindof blood vessel and of the flow velocity on the energy distribution isrelatively small in comparison to the influence of the distance betweenthe ablation element and the vessel section, a consideration of onlythis distance simplifies the predetermination of the model ablationregions and the corresponding retrieving during an actual ablated objectregion determining procedure, without significantly reducing theaccuracy of determining whether the object of interest will be ablatedcompletely.

In some embodiments, the model ablation region storing unit is adaptedto store model ablation regions depending on variations of the distanceonly, if the at least one model energy influencing element is a modelvessel, if the diameter of the model vessel is above a predefinedthreshold and if the flow velocity within the model vessel is above afurther predefined threshold. These thresholds can be determined bymeasurements, which measure the influence on a model ablation region ifthe diameter of a vessel and the flow velocity within the vessel aremodified.

The model ablation region storing unit can be adapted to store the modelablation regions not only depending on a spatial relationship betweenthe model ablation element and the at least one model energy influencingelement, in particular, depending on a distance between the modelablation element and the at least one model energy influencing element.In addition, the model ablation regions can be stored depending onfurther parameters like the shape of the model ablation element and/orthe at least one model energy influencing element, in particular, if themodel ablation element and/or the at least one model energy influencingelement are cylindrical, the diameter of the cylindrical shape, if theat least one model energy influencing element is a model vessel, thediameter of the model vessel and/or the flow velocity within the modelvessel. Other quantities on which the model ablation regions stored bythe model ablation region storing unit can depend are in particular:

-   -   the temperature of the model ablation element and/or the at        least one model energy influencing element;    -   the number of model ablation elements and/or model energy        influencing elements;    -   the configuration of the model ablation element, in particular,        if the model ablation element consists of a radiofrequency        applicator that is connected to a radiofrequency generator, the        power set up at the generator control unit and the way in which        the generator reacts to tissue impedance changes;    -   a set of material properties of the surrounding matter inside        which the at least one model energy influencing element and the        object of interest are located, in particular, if the        surrounding matter is human liver parenchyma, its electric        conductivity, thermal conductivity, heat capacity, density, and        blood perfusion rate;    -   the type of the model energy influencing element, if model        energy influencing elements of different types are of interest,        in particular, if the model energy influencing elements are        blood vessels in the human liver, either of a portal vein, a        hepatic vein, or a hepatic artery.

In some embodiments, the model ablation region storing unit is adaptedto store model ablation regions, which have been determined by solvingbiophysical equations describing an energy distribution of the object ofinterest and of the environment of the object of interest.

In some embodiments, the model ablation region storing unit is adaptedto store model ablation regions, which have been determinedexperimentally.

In some embodiments,—the model ablation region storing unit is adaptedto store at least two types of model ablation regions, a first type ofmodel ablation region defining a model ablation region considering theinfluence of the at least one model energy influencing element on themodel ablation region and a second type of model ablation region notconsidering the influence of the at least one model energy influencingelement on the model ablation region,

-   -   the model ablation region retrieving unit is adapted to retrieve        a first model ablation region of the first type and a second        model ablation region of the second type depending on the        spatial relationship between the ablation element in the set        orientation and in the set position and the at least one energy        influencing element represented by the provided geometrical        representation,    -   the ablated object region determining unit is adapted to        determine at least one of a) an ablated object region of the        object of interest being located within the retrieved first        model ablation region, b) a first non-ablated object region of        the object of interest being located within the second model        ablation region and outside the first model ablation region,        and c) a second non-ablated object region of the object of        interest being located outside the first model ablation region        and outside the second model ablation region.

The ablated object region determining apparatus may comprise avisualization unit being adapted to visualize the ablated object region,the first non-ablated object region and the second non-ablated objectregion differently.

This allows visualizing three regions of the object of interest, anablated object region, which indicates regions which will be destroyed,a first non-ablated object region, which would be destroyed, if the atleast one energy influencing element would not be present, but whichwill not be destroyed, because the at least one energy influencingelement is present, and a second non-ablated object region which willnot be destroyed, even if the at least one energy influencing elementwould not be present, because of the relatively large distance to theablation element.

The visualization of the first non-ablated object region can help thephysician to decide whether it is reasonable to perform additional stepsthat will weaken or avoid the influence of the at least one energyinfluencing element. If the at least one energy influencing element is avascular system in the human liver, such an additional step could inparticular be a Pringle manoeuvre or a chemoembolization of theparticular vessel.

The visualization of the second non-ablated object region can help thephysician to decide whether a second ablation element should be used orin the particular case in which the ablation element consists of aradiofrequency applicator which is connected to a radiofrequencygenerator whether the power set up at the radiofrequency generator mustbe increased.

Further, the ablated object region determining unit may be adapted todetermine at least one of a) an ablated object region and b) anon-ablated object region on an outer surface of the object of interestonly.

Since at least one of an ablated object region and of a non-ablatedobject region, in particular, of a first non-ablated object region andof a second non-ablated object region, are determined on the outersurface of the object only, the computational costs needed fordetermining at least one of the ablated object region and of thenon-ablated object region are reduced.

In some embodiments, the display unit only shows the outer surface ofthe object. The visualization unit is therefore adapted to visualize theablated object region and the non-ablated object region, in particular,the first non-ablated object region and the second non-ablated objectregion, by visualizing the corresponding areas on the outer surface ofthe object differently, for example, by coloring the outer surface ofthe object differently. This reduces the computational costs forvisualizing at least one of the ablated object region of the object andof the non-ablated object region of the object differently.

In some embodiments,—the model ablation region storing unit is adaptedto store two-dimensional model ablation regions depending on a distancebetween the at least one model energy influencing element and the modelablation element,

-   -   the model ablation region retrieving unit is adapted to retrieve        two-dimensional model ablation regions corresponding to a group        of planes defined by locations on or within the object of        interest, locations on or within the at least one energy        influencing element, and locations on or within the ablation        element, wherein the two-dimensional model ablation regions        within these planes depend on the distance between the location        on or within the at least one energy influencing element and the        location on or within the ablation element,    -   the ablated object region determining unit is adapted to        determine at least one of a) the ablated object region of the        object and b) the non-ablated object region of the object        depending on the retrieved two-dimensional model ablation        regions.

In some embodiments, the ablated object region determining unit isadapted to determine at least one of a) the ablated object region of theobject comprising locations on or within the object being located withinat least one of the retrieved two-dimensional model ablation regions andb) the non-ablated object region of the object comprising locations onor within the object being located outside of all retrievedtwo-dimensional model ablation regions.

In some embodiments, the model ablation region storing unit is adaptedto store at least two types of two-dimensional model ablation regions, afirst type of model ablation region defining a model ablation regionconsidering the influence of the at least one model energy influencingelement on the model ablation region and a second type of model ablationregion not considering the influence of the at least one model energyinfluencing element on the model ablation region. In this embodiment,the model ablation region retrieving unit is adapted to retrievetwo-dimensional model ablation regions of the first type and of thesecond type corresponding to a group of planes defined by locations onor within the object, locations on or within the at least one modelenergy influencing element, and locations on or within the modelablation element, wherein the two-dimensional model ablation regions ofthe first type and of the second type within these planes depend on thedistance between the location on or within the at least one model energyinfluencing element and the location on or within the model ablationelement within the respective plane. The ablated object regiondetermining unit is adapted to determine at least one of a) an ablatedobject region of the object comprising locations on or within the objectbeing located within at least one of the retrieved first model ablationregions, b) a first non-ablated object region of the object comprisinglocations on or within the object being located within at least onesecond model ablation region and outside of all retrieved first modelablation regions, and c) a second non-ablated object region of theobject comprising locations on or within the object being locatedoutside of all retrieved first model ablation regions and outside of allretrieved second model ablation regions.

In some embodiments,—the model ablation region storing unit is adaptedto store two-dimensional model ablation regions depending on a distancebetween the at least one model energy influencing element and the modelablation element, wherein a border of the respective two-dimensionalmodel ablation region is parameterized by an angle with respect to aline connecting a location on or within the at least one model energyinfluencing element and a location on or within the model ablationelement and an ablation distance between the border of thetwo-dimensional model ablation region and the location on or within themodel ablation element in a direction defined by the angle,

-   -   the model ablation region retrieving unit and the ablated object        region determining unit are adapted to perform following steps        for each location on or within the object of interest:        -   determine for each location on or within the at least one            energy influencing element, for each location on or within            the ablation element and the location on or within the            object a two-dimensional plane defined by these locations,        -   determine for each location on or within the at least one            energy influencing element, for each location on or within            the ablation element and the location on or within the            object an angle within the determined plane as an angle            between a line connecting the location on or within the at            least one energy influencing element and the location on or            within the ablation element within the determined plane and            a line connecting the location on or within the ablation            element and the location on or within the object within the            determined plane,        -   retrieve for each location on or within the at least one            energy influencing element, for each location on or within            the ablation element and the location on or within the            object the ablation distance between the location on or            within the ablation element and the border of the model            ablation region within the determined plane in the direction            of the determined angle, which corresponds to the respective            distance between the location on or within the at least one            energy influencing element and the location of the ablation            element,        -   determine whether the location on or within the object is            within an ablated object region or within a non-ablated            object region depending on the retrieved ablation distances.

This procedure allows to store model ablation regions in the modelablation region storing unit using a minimal amount of memory, whileretrieving, for example, three-dimensional model ablation regions fromthe model ablation region retrieving unit is still possible as has beendescribed above.

In another aspect, a model ablation region determining apparatus fordetermining model ablation regions is presented, wherein the modelablation region determining apparatus is adapted to

-   -   determine the model ablation regions depending on a spatial        relationship between a model ablation element and at least one        model energy influencing element, wherein a model ablation        region defines a region which will be ablated given the        respective spatial relationship between the model ablation        element and the at least one model energy influencing element,    -   store the determined model ablation regions in a model ablation        region storing unit.

The model ablation regions can be determined by determining an ablationregion using a model of partial differential equations, wherein only onemodel energy influencing element is present and has a cylindrical shapewith circular or polygonal cross-section and is located in the vicinityof the model ablation element. Distances from the center of the ablationelement to the boundary of the determined ablation region aredetermined, wherein this measurement is performed in various directionsand generally depends on the direction. These measurements are performedfor different spatial relationships between the model ablation elementand the at least one model energy influencing element and the resultingdistances are stored in the model ablation region storing unit forstoring the model ablation regions.

The partial differential equations, which can be used for determining anablation region, are partial differential equations described in theabove mentioned articles.

In another aspect, an arranging apparatus for arranging an ablationelement within an object of interest is presented, wherein the arrangingapparatus comprises:

-   -   an ablation planning device comprising an ablated object region        determining apparatus as defined in claim 1 for planning a        position and orientation of the ablation element such that a        desired ablated object region is determined,    -   an ablation element navigation unit for navigating the ablation        element to the planned position in the planned orientation.

This allows placing the ablation element within a person or within ananimal in accordance with the planned position and orientation of theablation element.

In some embodiments, the arranging apparatus further comprises:

-   -   an actual object geometry data set providing unit for providing        an actual object geometry data set showing the object,    -   an actual ablation element geometry data set providing unit for        providing an actual ablation element geometry data set showing        the ablation element,    -   an actual position and orientation determination unit for        determining the actual position and orientation of the ablation        element within the provided actual ablation element geometry        data set and/or for determining the actual position of the        object within the provided actual ablation element geometry data        set,    -   a comparing unit for comparing the determined actual position        and orientation of the ablation element with the planned        position and orientation of the ablation element,        wherein the ablation element navigation unit is adapted to        indicate the distance and the direction from the actual position        in the actual orientation to the planned position in the planned        orientation, if a deviation of the actual orientation from the        planned orientation is larger than an orientation threshold        and/or if a deviation of the actual position from the planned        position is larger than a position threshold.

For the physician this allows performing the ablation with the plannedposition and the planned orientation of the ablation element also onbase of a geometry description, which is not the original one used forthe planning. It allows identifying the angle of the trajectory ofpenetration of a patient with the ablation element, which leads to theplanned orientation and to the planned position of the ablation element.Also it allows correcting the orientation of the trajectory ofpenetration of a patient with the ablation element if, for example, afirst step of the penetration procedure for inserting the ablationelement to a planned position in the planned orientation does not yieldthe planned orientation or does not lead to the planned placement. For acorrection of the penetration trajectory the comparing unit indicatesthe corrected angles of penetration that lead to the planned placementand the planned orientation. This improves the accuracy of arranging theablation element in accordance with the planned orientation and positionof the ablation element.

In another aspect, an ablated object region determining method fordetermining an ablated object region for ablating an object of interestis presented, wherein the ablated object region determining methodcomprises following steps:

-   -   providing a geometrical representation of the object of        interest, of at least one energy influencing element and of a        spatial relationship between the object of interest and the at        least one energy influencing element,    -   setting an orientation and position of the ablation element with        respect to the provided geometrical representation,    -   retrieving a model ablation region, which corresponds to the        spatial relationship between the ablation element in the set        orientation and in the set position and the at least one energy        influencing element represented by the provided geometrical        representation, from a model ablation region storing unit in        which model ablation regions are stored depending on a spatial        relationship between a model ablation element and at least one        model energy influencing element, wherein a model ablation        region defines a region which will be ablated given a respective        spatial relationship between the model ablation element and the        at least one model energy influencing element,    -   determining at least one of a) an ablated object region of the        object of interest being located within the retrieved model        ablation region and b) a non-ablated object region of the object        of interest being located outside the retrieved model ablation        region.

In another aspect, a model ablation region determining method fordetermining model ablation regions is presented, wherein the modelablation region determining method comprises following steps:

-   -   determining the model ablation regions depending on a spatial        relationship between a model ablation element and at least one        model energy influencing element, wherein a model ablation        region defines a region which will be ablated given the        respective spatial relationship between the model ablation        element and the at least one model energy influencing element,    -   storing the determined model ablation regions in a model        ablation region storing unit.

In another aspect, an arranging method for arranging an ablation elementwithin an object is presented, wherein the arranging method comprisesfollowing steps:

-   -   planning a position and orientation of the ablation element        depending on an ablated object region of the object of interest        determined by the ablated object region determining method,    -   navigating the ablation element to the planned position in the        planned orientation.

In another aspect, an ablated object region determining computer programfor determining an ablated object region for ablating an object ispresented and stored in a computer storage device or computer-readablemedium such as a computer memory, wherein the computer programcomprising program code or other instruction means for causing anablated object region determining apparatus as defined in claim 1 tocarry out the steps of the ablated object region determining method,when the computer program is run on a computer with a computer processorcontrolling the ablated object region determining apparatus.

In another aspect, a model ablation region determining computer programfor determining model ablation regions is presented and stored in acomputer storage device or computer-readable medium such as a computermemory, wherein the computer program comprises program code or otherinstruction means for causing a model ablation region determiningapparatus to carry out the steps of the model ablation regiondetermining method when the computer program is run on a computer with acomputer processor controlling the model ablation region determiningapparatus.

In another aspect, an arranging computer program for automaticallyarranging an ablation element within an object is presented and storedin a computer storage device or computer-readable medium such as acomputer memory or storage device, wherein the computer programcomprises program code or other instruction means for causing anarranging apparatus to carry out the steps of the arranging method, whenthe computer program is run on a computer with a computer processorcontrolling the arranging apparatus.

The ablated object region determining apparatus of claim 1, the modelablation region determination apparatus, the arranging apparatus, theablated object region determining method, the model ablation regiondetermination method, the arranging method, the ablated object regiondetermining computer program, the model ablation region determinationcomputer program and the arranging computer program may have similarand/or identical embodiments as defined in the dependent claims.

Embodiments can also be any combination of the dependent claims with therespective independent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows schematically and exemplarily an embodiment of an ablatedobject region determining apparatus,

FIG. 2 shows schematically and exemplarily a graphical representation ofan ablation element, wherein the orientation and position of thegraphical representation has been set with respect to a geometricalrepresentation of an object of interest and an energy influencingelement,

FIG. 3 shows schematically and exemplarily a model ablation element, amodel energy influencing element and a determined model ablation region,

FIG. 4 shows schematically and exemplarily a graphical representation ofan ablation element whose orientation and position has been set withrespect to a geometrical representation of a vessel tree and an objectof interest,

FIG. 5 shows schematically and exemplarily a model vessel section beinga model energy influencing element, a model ablation element, and amodel ablation region of a first type,

FIG. 6 shows schematically and exemplarily a model vessel being a modelenergy influencing element, a model ablation element and a modelablation region of a second type,

FIG. 7 shows schematically and exemplarily a graphical representation ofan ablation element oriented and positioned with respect to ageometrical representation of an energy influencing element and anobject of interest,

FIG. 8 shows schematically and exemplarily locations on an energyinfluencing element, on an object of interest, and on an ablationelement being used for determining ablated object regions,

FIG. 9 shows schematically and exemplarily a parameterization of a modelablation region,

FIG. 10 shows schematically and exemplarily a graphical representationof an ablation element oriented and positioned with respect to ageometrical representation of an object of interest and an energyinfluencing element,

FIG. 11 shows schematically and exemplarily an embodiment of anarranging apparatus for arranging an ablation element within an objectof interest,

FIG. 12 shows a flowchart exemplarily illustrating an ablated objectregion determining method for determining an ablated object region forablating an object of interest,

FIG. 13 shows a flowchart exemplarily illustrating a model ablationregion determining method for determining model ablation regions, and

FIG. 14 shows a flowchart exemplarily illustrating an arranging methodfor arranging an ablation element within an object of interest.

DETAILED DESCRIPTION

FIG. 1 shows schematically and exemplarily an ablated object regiondetermining apparatus 1 for determining an ablated object region forablating an object of interest. The ablated object region determiningapparatus 1 comprises a geometrical representation providing unit 2 forproviding a geometrical representation of i) the object of interest, ii)at least one energy influencing element and iii) a spatial relationshipbetween the object of interest and the at least one energy influencingelement. Such a geometrical representation 8 is schematically andexemplarily shown in FIG. 2. The geometrical representation 8 representsthe object of interest 9, the at least one energy influencing element 10and the spatial relationship between the object of interest 9 and the atleast one energy influencing element 10.

The ablated object region determining apparatus 1 further comprises anablation element setting unit 3 for allowing a user to set anorientation and position of an ablation element 11, i.e. of a graphicalmodel 11 of an ablation element, with respect to the providedgeometrical representation 8. The ablation element setting unit 3comprises a graphical user interface 15 which allows arranging agraphical model 11 of the ablation element with respect to thegeometrical representation 8 on a display unit 7 of the ablated objectregion determining apparatus 1. The graphical model of the ablationelement 11 has an elongated shape, in particular, the shape of the realablation element, wherein a user can set a desired position andorientation of the graphical model with respect to the geometricalrepresentation 8 by using an input unit 14 like a keyboard, a computermouse or a computer pen.

The ablated object region determining apparatus 1 further comprises amodel ablation region storing unit 4 in which model ablation regions arestored depending on a spatial relationship between a model ablationelement and at least one model energy influencing element, wherein amodel ablation region defines a region, which will be ablated given arespective spatial relationship between the model ablation element andthe at least one energy influencing element. A model energy influencingelement 16, a model ablation element 17 and a model ablation region 18are schematically and exemplarily shown in FIG. 3.

The ablated object region determining apparatus 1 further includes amodel ablation region retrieving unit 5 for retrieving a model ablationregion 18 which corresponds to the spatial relationship between theablation element 11 in the set orientation and in the set position andthe at least one energy influencing element 10 represented by theprovided geometrical representation 8, from the model ablation regionstoring unit 4.

The ablated object region determining apparatus 1 further comprises anablated object region determining unit 6 for determining at least one ofa) an ablated object region 12 of the object of interest 9 being locatedwithin the retrieved model ablation region 18 and b) a non-ablatedobject region 13 of the object of interest 9 being located outside theretrieved model ablation region 18.

The display unit 7 may be adapted to visualize the ablated object region12 of the object 9 and the non-ablated object region 13 of the object 9differently, for example, by different colors and/or intensities.

The ablated object region determining apparatus allows to simulate anablation procedure, before the ablation procedure is actually performed.That means, before the ablation procedure is actually performed, theablated object region determining unit can determine an ablated objectregion 12 and/or a non-ablated object region 13, which are visualized onthe display unit 7 and which can be used by a user like a physician forplanning a following real ablation procedure. Before the actual ablationprocedure is performed, the physician can see which part of the objectof interest 9 would be ablated and which part of the object of interest9 would not be ablated if the set position and the set orientation isused for the real therapy. Since the required model ablation regions 18are retrieved from the model ablation region storing unit 4, i.e. sincethese model ablation regions 18 do not have to be calculated, theablated object region 12 and the non-ablated object region 13 can bedetermined and visualized very fast.

In this example embodiment, the geometrical representation providingunit 2 is an image data set providing unit for providing a segmentedimage data set representing the object of interest 9, the energyinfluencing element 10 and the spatial relationship between the objectof interest 9 and the energy influencing element 10. Thus, in thisembodiment the segmented image data set provides the geometricalrepresentation. The medical image data set may be a medical image dataset showing the whole body or a part of the body of a person or of ananimal. For example, the image data set can be an image data set showingan organ like the lung or the liver.

The image data set can be generated by an imaging modality like acomputed tomography imaging system, a magnetic resonance imaging system,a nuclear medicine imaging system or an ultrasound imaging system. Theimage data set providing unit can comprise at least one of thepreviously mentioned imaging systems for generating the image data setand a segmentation unit for segmenting at least the object of interestand the at least one energy influencing element within the image dataset.

The geometrical representation providing unit 2 can also be a storingunit in which the geometrical representation, which can be a segmentedimage data set, is stored. The geometrical representation providing unit2 can also be a receiving unit for receiving the geometricalrepresentation and for providing the received geometrical representationto the ablation element setting unit 3. The receiving unit can beadapted for receiving the segmented image data set via a wired orwireless data link.

The geometrical representation providing unit 2 and/or the ablationelement setting unit 3 can also be adapted to provide a geometricaldescription of the ablation element 11 and/or the energy influencingelement 10, respectively, as one or several of the following:

-   -   one or several cylinders having circular or polygonal        cross-section, parameterized by the radius, height, position,        and orientation of the one or several cylinders;    -   a number of polyhedra that make up a closed surface, where the        polyhedra are for example parameterized by the coordinates of        their vertices;    -   an implicit function representation, that is, a real-valued        function on a three-dimensional set that takes values of a        certain sign inside the ablation element (or inside the at least        one energy influencing element, respectively) and values of the        opposite sign outside the ablation element (or inside the at        least one energy influencing element, respectively).

In addition to providing the geometrical representation 8 of the objectof interest 9 and the energy influencing element 10, the geometricalrepresentation providing unit 2 can be adapted to additionally providethe geometry and the spatial relation of structures in a body of aperson or of an animal, which are in the vicinity of the object ofinterest 9. In such an embodiment, the geometrical representationproviding unit 2 may describe the geometry of and the spatial relationbetween a lesion being the object of interest inside the liver, theliver, the vascular systems surrounding the lesion, the bonessurrounding the liver, the intestines, the diaphragm, and otherstructures that influence the energy distribution or that must not beharmed during an ablation therapy.

In this example embodiment, the object of interest 9 is a lesion and theenergy influencing element 10 is a blood vessel. For example, the objectof interest can be a metastasis or a primary tumor. Moreover, in thisembodiment the ablation element being represented by the graphical model11 is a radio-frequency ablation element being a needle-shaped probecontaining at least one electrode which is connected to an electricgenerator. In other embodiments, the ablation element can have anothershape and/or can be adapted to introduce another kind of energy into theobject of interest 9. For example, the ablation element can be a cryoprobe for providing a cooling or freezing of the object of interest forperforming a cryo-ablation procedure.

In this example embodiment, the model ablation regions 18, which arestored in the model ablation region storing unit 4, have been determinedby solving linear or non-linear equations indicative of assumed or knownmaterial properties (e.g. thermal and electrical conductivity) of theobject of interest 9 and of the environment of the object of interest 9for determining an energy distribution depending on the spatialrelationship between the model ablation element 17 and the model energyinfluencing element 16 and by determining a region 18, in which thedetermined energy distribution exceeds a threshold, as model ablationregion 18. The non-linearity of the equations considers materialparameters of the materials of the object of interest 9 and of theenvironment of the object of interest 9, which change with thetemperature or other states of the object of interest 9 and/or of theenvironment of the object of interest 9. A state of the object ofinterest 9 and/or of the environment of the object 9 is, for example,the coagulation state, the protein composition, the water content, etcetera. In this embodiment the non-linearity of the equations considersthe thermal conductivity and in the case of radiofrequency ablation alsothe electric conductivity, which change with the temperature and theother states of the object of interest and its environment. Moreover, inthis embodiment the energy distribution is determined by theBioheat-Transfer-Equation coupled with another equation which determinesthe energy delivered by the model ablation element, for example, theelectrostatic equation in case of radiofrequency ablation. The modelenergy influencing element 16 is treated as part of theBioheat-Transfer-Equation either as an energy source/sink term, as atransport term, as a diffusion term, or as boundary conditions for theenergy of the energy flux. Several physical factors, i.e. materialproperties, are considered which influence the energy distribution suchas the electrical and thermal conductivity of the tissue, the densityand heat capacity of the tissue and the relative perfusion rate. Alsophase changes like the vaporization of water can be accounted for. Amore detailed description of such a determination of the model ablationregion 18 is described in more detail in the above mentioned articles,which are incorporated by reference.

In this example embodiment, the energy distribution is a temperaturedistribution, wherein the model ablation element 17 is regarded as aheat source and the model energy influencing element 16 is regarded as aheat sink. If, in another embodiment, the ablation procedure should beperformed by cooling the object of interest 9, the model ablationelement 17 is regarded as a heat sink and the model energy influencingelement 16 is regarded a heat source.

The determined model ablation regions are stored in a lookup table inthe model ablation region storing unit 4. The stored model ablationregions have been determined for different spatial relationships betweenthe model ablation element 17 and the energy influencing element 16.Moreover, in an embodiment for the same spatial relationship between themodel ablation element 17 and the model energy influencing 16 severalmodel ablation regions can be stored in the model ablation regionstoring unit 4, which correspond to different combinations of locationson or within the model ablation element 7 and locations on or within themodel energy influencing element 16, wherein the model ablation regionretrieving unit 5 is adapted to retrieve these several model ablationregions, i.e. the ablated object region determining unit 6 is thenadapted to determine at least one of a) an ablated object region 12 ofthe object 9 being located within at least one of the retrieved modelablation regions and b) a non-ablated objected region 13 of the object 9being located outside of all of the retrieved model ablation regions.

The energy influencing element can also be a vessel tree 119 which isschematically and exemplarily shown in FIG. 4.

FIG. 4 shows schematically and exemplarily a geometrical representation108 representing the vessel tree 119, the object of interest 109 and aspatial relationship between the vessel tree 119 and the object ofinterest 109. Also this geometrical representation can be provided bythe geometrical representation providing unit 2. The vessel tree 119 canbe divided into vessel sections 121.

In this example embodiment, the model ablation region storing unit 4 isadapted to store model ablation regions 118 depending on a spatialrelationship between a model vessel section 116 being a model energyinfluencing element and a model ablation element 117. The model vesselsection 116, the model ablation element 117 and the model ablationregion 118 are schematically and exemplarily shown in FIG. 5.

The model ablation region retrieving unit 5 is adapted to divide thevessel tree 119 in the vessel sections 121 and to retrieve for eachcombination of vessel section 121 and set orientation and position ofthe ablation element 111 a model ablation region 118 which correspondsto the spatial relationship between the ablation element 111 in the setorientation and in the set position and the vessel section 121 of therespective combination, from the model ablation region storing unit 4.The ablated object region determining unit is adapted to determine anablated object region 112 of the object of interest 109 being locatedwithin the retrieved model ablation region 118 and b) a non-ablatedobject region 113 of the object of interest 109 being located outside ofthe retrieved model ablation region 118. The ablated object region 112and the non-ablated object region 113 are visualized differently on thedisplay unit 7.

In this example embodiment, the vessel sections 121 and the model vesselsections 116 are linear sections.

The model ablation region storing unit 4 may be adapted to store modelablation regions depending on a distance between a model vessel section116 being a model energy influencing element and the model ablationelement 117. In particular, the model ablation region storing unit 4 canbe adapted to store model ablation regions depending on a distancebetween a model vessel section 116 and a model ablation element 117only. It is further preferred that the model ablation region storingunit 4 is adapted to store model ablation regions depending on thedistance only, if the model energy influencing element is a model vesselor model vessel section 116, if a diameter of the model vessel or modelvessel section 116 is above a predefined threshold and if the flowvelocity within the model vessel or model vessel section 116 is above afurther predefined threshold. These thresholds are determined bymeasurements which measures the influence on a model ablation region, ifthe diameter of a vessel and the flow velocity within the vessel aremodified.

The model ablation region storing unit 4 can also be adapted to storethe model ablation regions not only depending on a spatial relationshipbetween the model ablation element and the at least one model energyinfluencing element, in particular, depending on a distance between themodel ablation element and the at least one model energy influencingelement. In addition, the model ablation regions can be stored dependingon further parameters which are mentioned above like the shape of themodel ablation element and/or of the at least on model energyinfluencing element, in particular, if the model ablation element and/orthe at least one model energy influencing element are cylindrical, onthe diameter of the cylindrical shape, and/or, if the at least one modelenergy influencing element is a model vessel, on the diameter of themodel vessel and/or the flow velocity within the model vessel.

Although in the above mentioned example embodiments the model ablationregions stored in the model ablation region storing unit 4 have beendetermined by solving biophysical equations like theBioheat-Transfer-equation, in other example embodiments, the modelablation regions can have been determined in another way, for example,experimentally.

In a further example embodiment, the model ablation region storing unit5 is adapted to store two types of model ablation regions, a first typeof model ablation region 118 defining a model ablation regionconsidering the influence of the model energy influencing element 116 onthe model ablation region and a second type of model ablation region 222not considering the influence of the model energy influencing element216 on the model ablation region. FIG. 6 shows schematically andexemplarily a second type of model ablation region 222, the modelablation element 217, and the model energy influencing element 216. Thefirst type of model ablation region defining a model ablation regionconsidering the influence of the model energy influencing elementcorresponds to the model ablation region 18 shown in FIG. 3.

In this example embodiment, the model ablation region retrieving unit 5is adapted to retrieve a first model ablation region 118 of the firsttype and a second model ablation region 222 of the second type dependingon the spatial relationship between the ablation element 211 in the setorientation and in the set position and the energy influencing element210 represented by their provided geometrical representation 208. Thegeometrical representation 208 representing the ablation element 211,the energy influencing element 210 and the spatial relationship betweenthe ablation element 211 and the energy influencing element 210 areschematically and exemplarily shown in FIG. 7.

Moreover, in this example embodiment the ablated object regiondetermining unit 6 is adapted to determine at least one of a) an ablatedobject region 223 of the object of interest 209 being located within theretrieved first model ablation region, b) a first non-ablated objectregion 224 of the object of interest 209 being located within the secondmodel ablation region and outside the first model ablation region, andc) a second non-ablated object region 225 of the object of interest 209being located outside the first model ablation region and outside thesecond model ablation region. The display unit 7 is adapted to visualizethe ablated object region 223, the first non-ablated object region 224and the second non-ablated object region 225 differently, in particular,with different colors and/or different intensities.

The ablated object region determining unit 6 may be adapted to determinethe ablated object region and the non-ablated object region, inparticular, the first non-ablated object region and the secondnon-ablated object region, on an outer surface of the object of interestonly. Moreover, the display unit 7 can be adapted to show the outersurface of the object of interest and the ablated and non-ablated objectregions on the outer surface of the object of interest, and not theinside of the object of interest.

In an example embodiment, the model ablation region storing unit 4 isadapted to store two-dimensional model ablation regions 318 depending ona distance between the model energy influencing element and the modelablation element. In this embodiment, the model ablation regionretrieving unit 5 is adapted to retrieve two-dimensional model ablationregions 318 corresponding to a group of planes defined by locations 327on the object of interest 309, locations 326 on the energy influencingelement 310 and locations 328 on the ablation element 311, wherein thetwo-dimensional model ablation regions 318 within these planes depend onthe distance between the respective location 326 on the energyinfluencing element 310 and the respective location 328 on the ablationelement 311. The locations are schematically and exemplarily illustratedin FIG. 8.

In FIG. 8, the location 326 on the energy influencing element 310, thelocation 327 on the object of interest 309 and the location 328 on theablation element 311 define a plane, wherein the two-dimensional modelablation region 318 is retrieved from the model ablation region storingunit 4 depending on the distance between the location 326 on the energyinfluencing element 310 and the location 328 on the ablation element311. The location 327 on the object of interest 309 is not within thetwo-dimensional model ablation region 318.

For a location 327 on the object of interest 309 model ablation regionsare retrieved for different locations on the energy influencing element310 and different locations on the ablation element 311. If the location327 is located within at least one of the ablation regions, the location327 on the object of interest 309 is assigned to an ablated objectregion. Otherwise, the location 327 on the object of interest 309 isassigned to a non-ablated object region of the object of interest 309.These assignments are performed for all locations on the object ofinterest 309. Then, the ablated object region and the non-ablated objectregion on the object of interest 219 are visualized differently by thedisplay unit 7, in particular, with different colors and/or differentintensities. This allows determining and identifying an ablated objectregion and a non-ablated object region on the object of interest 309 ina three-dimensional configuration, although the model ablation regionsstored in the model ablation region storing unit are two-dimensionalregions.

The concept of using two-dimensional stored model ablation regions fordetermining and visualizing an ablated object region and a non-ablatedobject region in a three-dimensional configuration can also be used, ifthe model ablation region storing unit includes a first type oftwo-dimensional model ablation region and a second type oftwo-dimensional model ablation region. For example, the model ablationregion storing unit 4 can be adapted to store a first type oftwo-dimensional model ablation regions defining model ablation regionsconsidering the influence of the model energy influencing element on themodel ablation region and a second type of two-dimensional modelablation regions not considering the influence of the model energyinfluencing element on the model ablation region. The model ablationregion retrieving unit 5 is then adapted to retrieve two-dimensionalmodel ablation regions of the first type and of the second typecorresponding to a group of planes defined by locations on the object ofinterest, on the model energy influencing element, and on the modelablation element, wherein the two-dimensional model ablation regions ofthe first type and of the second type within these planes depend on thedistance between the respective location on the model energy influencingelement and the respective location on the model ablation element withinthe respective plane. The ablated object region determining unit 6 isadapted such that in this case at least one of a) an ablated objectregion of the object comprising locations on the object being locatedwithin at least one of the retrieved first model ablation regions, b) afirst non-ablated object region of the object comprising locations onthe object being located within at least one second model ablationregion and outside of all retrieved first model ablation regions, and c)a second non-ablated object region of the object comprising locations onthe object being located outside of all retrieved first model ablationregions and outside of all retrieved second model ablation regions aredetermined.

In the following an example parameterization of the model ablationregions will be described with reference to FIG. 9.

The model ablation region storing unit 4 may be adapted to storetwo-dimensional model ablation regions 418 depending on a distancebetween the energy influencing element 416 and the model ablationelement 417. The border of the respective two-dimensional model ablationregion 418 is parameterized by an angle 432 with respect to a line 431connecting a location 429 on the model energy influencing element 416and a location 430 on the model ablation element 417 and an ablationdistance 433 between the border of the two-dimensional ablation region418 and the location 430 on the model ablation element 417 in adirection defined by the angle 432. Thus, the two-dimensional modelablation regions are stored in the model ablation region storing unit 4by defining multiple lengths of a vector 435 for different angles 432between the connection line 431 and the vector 435.

In the following, example embodiments of the model ablation retrievingunit 5 and the ablated object region determining unit 6, which use thestored ablation distances and angles, are described with reference toFIG. 10.

The model ablation region retrieving unit 5 and the ablated objectregion determining unit 6 are adapted to perform following steps foreach location 427 on the object of interest 409. For each location 426on the energy influencing element 410, for each location 428 on theablation element 411 and for the location 427 on the object 409 atwo-dimensional plane defined by these locations is determined. Then,for each location 426 on the energy influencing element 410, for eachlocation 428 on the ablation element 411 and for the location 427 on theobject 409 an angle 436 within the determined plane is determined as anangle between a line 434 connecting the location 426 on the energyinfluencing element 410 and the location 428 on the ablation element 411within the determined plane and a line 435 connecting the location 428on the ablation element 411 and the location 427 on the object 409within the determined plane. For each location 426 on the energyinfluencing element 410, for each location 428 on the ablation element411 and for the location 427 on the object of interest 409 the ablationdistance 437 between the location 428 on the ablation element 411 andthe border of the model ablation region within the respective determinedplane in the direction of the respective determined angle 436 isretrieved, wherein the ablation distance 437, which has been retrievedfor the determined angle 436 and for the locations on the energyinfluencing element, on the ablation element and on the object,corresponds to the respective distance between the location 426 on theenergy influencing element, 410 and the location 428 on the ablationelement 411. Then, it is determined whether the location 427 on theobject 409 is within an ablated object region or within a non-ablatedobject region depending on the retrieved ablation distances. Inparticular, if the respective location 427 on the object 409 is withinat least one of the retrieved ablation distances, the location 427 onthe object 409 is assigned to the ablated object region, and if thelocation 427 of the object 409 is outside of all of the retrievedablation distances, the respective location 427 on the object 409 isassigned to the non-ablated object region.

Also this concept with the ablation distances and angles forparameterizing two-dimensional model ablation regions can be used with afirst type of two-dimensional model ablation regions defining modelablation regions considering the influence of at least one model energyinfluencing element on the model ablation regions and a second type ofmodel ablation regions not considering the influence of the at least onemodel energy influencing element on the model ablation regions. Thesedifferent types of parameterized two-dimensional model ablation regionscan then be used to determine an ablated object region of the object ofinterest, a first non-ablated object region of the object of interest,and a second non-ablated region of the object of interest.

Referring again to FIG. 1, a model ablation region determining apparatus38 for determining model ablation regions is provided. The modelablation region determining apparatus 38 is adapted to determine themodel ablation regions depending on a spatial relationship between amodel ablation element and at least one model energy influencingelement, wherein a model ablation region defines a region which will beablated given the respective spatial relationship between the modelablation element and the at least one model energy influencing element.The model ablation region determining apparatus 38 is further adapted tostore the determined model ablation regions in the model ablation regionstoring unit 4. The model ablation region determining apparatus 38 isadapted to determine the model ablation regions as described above inmore detail.

It should be noted that the model ablation region determining apparatus38 does not have to be a part of the ablated object region determiningapparatus 1. The ablated object region determining apparatus 1 justneeds the model ablation region storing unit 4 in which the alreadydetermined model ablation regions are stored. However, in anotherembodiment the model ablation region determining apparatus 38 can alsobe a part of the ablated object region determining apparatus 1.

The model ablation region determining apparatus 38 is adapted todetermine a model ablation region by determining an ablation regionusing a model of partial differential equations, wherein only one modelenergy influencing element is present and has a cylindrical shape withcircular or polygonal cross-section and is located in the vicinity ofthe model ablation element. Distances from the ablation element to theboundary of determined ablation region, in particular, distances fromthe center of the ablation element or from a location on an outersurface of the ablation element to the boundary of the determinedablation region, are determined, wherein this determination is performedin various directions and generally depends on the direction. Thesedeterminations are performed for different spatial relationships betweenthe model ablation element and the model energy influencing element, inparticular, for different locations on an outer surface of the modelablation element and different locations on an outer surface of themodel energy influencing element, and the resulting distances anddirections or angles are stored in the model ablation region storingunit 4 for storing the model ablation regions.

The partial differential equations used by the model ablation regiondetermining apparatus 38 can be the equations described in the abovementioned articles.

FIG. 11 shows schematically and exemplarily an arranging apparatus 39for arranging an ablation element within an object of interest. Thearranging apparatus 39 comprises an ablation planning device 40, whichincludes the ablated object region determining apparatus 1, for planninga position and orientation of the ablation element such that a desiredablated object region is determined. The arranging apparatus furthercomprises an actual object geometry data set providing unit 41 forproviding an actual object geometry data set showing the object ofinterest and an actual ablation element geometry data set providing unit42 for providing an actual ablation element geometry data set showingthe ablation element. The arranging apparatus 39 further comprises anactual position and orientation determination unit 43 for determiningthe actual position and orientation of the ablation element within theprovided actual ablation element geometry data set and/or fordetermining the actual position of the object within the provided actualelement geometry data set. The arranging apparatus 39 further comprisesa comparing unit 44 for comparing the determined actual position andorientation of the ablation element with the planned position andorientation of the ablation element and an ablation element navigationunit 45 for navigating the ablation element to the planned position inthe planned orientation. The ablation element navigation unit 45 isadapted to indicate the distance and the direction from the actualposition in the actual orientation to the planned position in theplanned orientation, if a deviation of the actual orientation from theplanned orientation is larger than an orientation threshold and/or if adeviation of the actual position from the planned position is largerthan a position threshold.

In the following an example embodiment of an ablated object regiondetermining method will exemplarily be described with reference to aflowchart phone in FIG. 12.

In step 101, a geometrical representation of the object of interest, ofat least one energy influencing element and of a spatial relationshipbetween the object of interest and the at least one energy influencingelement is provided by the geometrical representation providing unit 2.Then, in step 102 an orientation and position of the ablation elementwith respect to the provided geometrical representation can be set byusing the ablation element setting unit 3. It should be noted, that nota real ablation element is oriented and positioned with respect to theprovided geometrical representation, but a graphical representation of areal ablation element is oriented and positioned with respect to theprovided geometrical representation by using the input unit 14 and thegraphical user interface 15.

In step 103, a model ablation region is retrieved from the modelablation region retrieving unit 5. The retrieved model ablation regioncorresponds to the spatial relationship between the ablation element inthe set orientation and in the set position and the at least one energyinfluencing element represented by the provided geometricalrepresentation. The model ablation region is retrieved from the modelablation region storing unit 4 in which model ablation regions arestored depending on a spatial relationship between a model ablationelement and at least one model energy influencing element.

In step 104, the ablated object region determining unit 6 determines atleast one of a) an ablated object region of the object of interest beinglocated within the retrieved model ablation region and b) a non-ablatedobject region of the object of interest being located outside theretrieved model ablation region. The ablated object region and thenon-ablated object region are visualized differently on the display unit7 in step 105.

By using the above described ablated object region determining apparatusand ablated object region determining method a user like a physician canset different orientations and positions of the ablation element, i.e.of the graphical representation of the ablation element, with respect tothe provided geometrical representation and determine which part of theobject of interest will be ablated and which part of the object ofinterest will not be ablated considering the respective set orientationand position of the ablation element. Thus, the outcome of an actualablation procedure to be performed can be predicted before the actualablation procedure is performed. This prediction can be provided veryfast, because the model ablation regions have already been determinedand just have to be retrieved from the model ablation region storingunit 4.

In the following an example embodiment of a model ablation regiondetermining method will exemplarily be described with reference to aflowchart shown in FIG. 13.

In step 201, ablation regions are determined depending on a spatialrelationship between a model ablation element and at least one modelenergy influencing element, wherein a model ablation region defines aregion which will be ablated given the respective spatial relationshipbetween the model ablation element and the at least one model energyinfluencing element. For a more detailed description of thedetermination of the model ablation regions reference is made to theabove given explanations. In step 202, the determined model ablationregions are stored in the model ablation region storing unit 4.

In the following an embodiment of an arranging method will exemplarilybe described with reference to a flowchart shown in FIG. 14.

In step 301, a position and orientation of the ablation element isplanned depending on an ablated object region of the object of interestdetermined by the above described ablated object region determiningmethod. For example, the position and orientation of the ablationelement can be planned such that the determined ablated object region ismaximized.

In step 302, an actual object geometry data set showing the object ofinterest is provided. The actual object geometry data set is, forexample, a medical image data set. In step 303 a user like a radiologistarranges an actual ablation element, i.e. a real ablation element,within or close to the object of interest. For example, a user like aradiologist inserts an ablation element into a patient such that theablation element is located within or close to the object of interest.In step 304, the actual position and orientation of the actual ablationelement within the provided actual object geometry data set aredetermined. In step 305, the determined actual position and orientationof the actual ablation element is compared with the planned position andorientation of the ablation element, and in step 306 it is determined ifa deviation of the actual orientation from the planned orientation islarger than an orientation threshold and/or if a deviation of the actualposition from the planned position is larger than a position threshold.If this is the case, in step 307 the distance and the direction from theactual position in the actual orientation to the planned position in theplanned orientation is indicated to the user, for example, shown on thedisplay unit 7. Then, in step 309, the user can modify the actualposition and orientation of the ablation element as indicated in step307, and the arranging method continues with step 304. If in step 306 itis determined that the deviation of the actual orientation from theplanned orientation is not larger than the orientation threshold andthat the deviation of the actual position from the planned position isnot larger than the position threshold, in step 308 it is indicated to auser that the arrangement was successful. This indication can also beprovided on the display unit 7 and/or an acoustical signal can beprovided indicating a successful arranging procedure.

After it has been indicated to the user that the arrangement wassuccessful in step 308, optionally the user can modify the actualposition and orientation of the ablation element again and the arrangingmethod continues with step 304, and/or the user can place a furtherablation element, wherein the arranging method continues with step 302.

In step 304 the actual position and orientation of the actual ablationelement within the provided actual object geometry data set isdetermined by an electromagnetic tracking and/or an optical tracking ofthe actual ablation element. Also the actual position and orientation ofthe actual ablation element within the actual object geometry data setcan be obtained through image acquisition like CT fluoroscopy andsubsequent segmentation of the actual ablation element from the acquiredimage if the actual ablation element has been inserted into a patient.

It should be noted that the ablation element navigation unit does nothave to be adapted to navigate the ablation element by itself. Theablation element navigation unit is adapted to indicate distances anddirections between an actual position in an actual orientation and aplanned position in a planned orientation of the ablation element, inorder to provide a user with information which allows the user tocorrect the arrangement.

Other variations to the disclosed embodiments can be understood andincorporated by those skilled in the art in practicing embodiments, froma study of the drawings, the disclosure, and the appended claims.

In the claims, the word “comprising” does not exclude other elements orsteps, and the indefinite article “a” or “an” does not exclude aplurality.

A single unit or device may fulfill the functions of several itemsrecited in the claims. The mere fact that certain measures are recitedin mutually different dependent claims does not indicate that acombination of these measures cannot be used to advantage.

Providing procedures like providing geometrical representations, storingprocedures like storing model ablation regions, retrieving procedureslike retrieving model ablation regions and determining procedures likedetermining ablated object regions and/or non-ablated object regionsperformed by one or several units or devices can be performed by anyother number of units or devices. For example, steps 101 to 105 can beperformed by a single unit like a computer or by any other number ofdifferent units. The above mentioned procedures like providingprocedures, setting procedures, storing procedures, retrievingprocedures, determination procedures, arranging procedures etc. and/orthe control of the ablated object region determining apparatus inaccordance with the ablated object region determining method and/or thecontrol of the model ablation region determining apparatus in accordancewith the model ablation region determining method and/or the control ofthe arranging apparatus in accordance with the arranging method can beimplemented as program code or other instruction means of a computerprogram and/or as dedicated hardware using a general purpose or specialpurpose computer system appropriately programmed to achieve suchmethods.

A computer program may be stored/distributed on a suitable medium, suchas an optical storage medium or a solid-state medium, or othercomputer-readable or storage medium, supplied together with or as partof other hardware, but may also be stored and transmitted or distributedin other forms, such as via the Internet or other wired or wirelesstelecommunication systems.

Any reference signs in the claims should not be construed as limitingthe scope.

The present disclosure relates to an ablated object region determiningapparatus for determining an ablated object region for ablating anobject of interest. A user can set an orientation and position of anablation element with respect to a geometrical representation of theobject of interest, at least one energy influencing element and aspatial relationship between the object of interest and the at least oneenergy influencing element. A model ablation region retrieving unitretrieves a model ablation region depending on the respective setorientation and position of the ablation element from a model ablationregion storing unit. An ablated object region determining unitdetermines at least one of a) an ablated object region of the object ofinterest being located within the retrieved model ablation region and b)a non-ablated object region of the object of interest being locatedoutside the retrieved model ablation region.

The invention claimed is:
 1. A model ablation region determiningapparatus for predetermining model ablation regions decoupled from thedetermination of a desired at least one ablated object region of anobject of interest to allow an ablation planning apparatus to determinethe desired at least one ablated object region within a few seconds,comprising: a memory; a computer processor; and model ablation regionprogram code, stored in the memory, and configured when executed on thecomputer processor to: determine the model ablation regions depending ondeterminations of energy distribution and a spatial relationship betweena model ablation element and at least one model energy influencingelement by solving linear or non-linear equations indicative of materialproperties of the object of interest and of the object of interestenvironment, wherein an model ablation region defines a region in whichthe determined energy distribution exceeds a threshold, which would beablated when used in an ablation procedure given the respective spatialrelationship between the model ablation element and the at least onemodel energy influencing element; and store the determined modelablation regions in a model ablation region storing unit such that theablation planning apparatus can retrieve a stored model ablation regionto determine the desired ablated object region within a few seconds. 2.A model ablation region determining method for predetermining modelablation regions decoupled from the determination of a desired at leastone ablated object region of an object of interest to allow an ablationplanning apparatus to determine the desired at least one ablated objectregion within a few seconds, comprising: determining the model ablationregions depending on determinations of energy distribution and a spatialrelationship between a model ablation element and at least one modelenergy influencing element by solving linear or non-linear equationsindicative of material properties of the object of interest and of theobject of interest environment, wherein a model ablation region definesa region in which the determined energy distribution exceeds athreshold, which would be ablated when used in an ablation proceduregiven the respective spatial relationship between the model ablationelement and the at least one model energy influencing element; andstoring the determined model ablation regions in a model ablation regionstoring unit such that the ablation planning apparatus can retrieve astored model ablation region to determine the desired ablated objectregion within a few seconds.
 3. A computer-readable storage mediumcontaining an ablated object region determining computer program fordetermining an ablated object region for ablating an object, thecomputer program comprising program code that causes a model ablationregion determining apparatus to determine at least one model ablatedobject region when the computer program is executed on a computercontrolling the model ablation region determining apparatus byperforming steps of: providing a geometrical representation of theobject of interest, of at least one energy influencing element and of aspatial relationship between the object of interest and the at least oneenergy influencing element; setting an orientation and position of theablation element with respect to the provided geometricalrepresentation; retrieving a predetermined model ablation region, thatcorresponds to determined energy distribution and the spatialrelationship between the ablation element in the set orientation and inthe set position and the at least one energy influencing elementrepresented by the provided geometrical representation, from a modelablation region storing unit in which model ablation regions are storeddepending on a spatial relationship between a model ablation element andat least one model energy influencing element, wherein the predeterminedmodel ablation region defines a region that will be ablated when used inan ablation procedure given the respective spatial relationship betweenthe model ablation element and the at least one model energy influencingelement; and determining a) an ablated object region of the object ofinterest being located within the retrieved model ablation region and/orb) a non-ablated object region of the object of interest, being locatedoutside the retrieved model ablation region, within a few seconds.
 4. Acomputer-readable storage medium containing a model ablation regiondetermining computer program for predetermining model ablation regionsdecoupled from the determination of a desired at least one ablatedobject region of an object of interest to allow an ablation planningapparatus to determine the desired at least one ablated object regionwithin a few seconds, the computer program comprising program code thatcauses a model ablation region determining apparatus to determine modelablated object regions when the computer program is executed on acomputer controlling the model ablation region determining apparatus, byperforming the steps of: determining the model ablation regionsdepending on determinations of energy distribution and a spatialrelationship between a model ablation element and at least one modelenergy influencing element by solving linear or non-linear equationsindicative of material properties of the object of interest and of theobject of interest environment, wherein a model ablation region definesa region in which the determined energy distribution exceeds athreshold, which would be ablated when used in an ablation proceduregiven the respective spatial relationship between the model ablationelement and the at least one model energy influencing element; andstoring the determined model ablation regions in a model ablation regionstoring unit such that the ablation planning apparatus can retrieve astored model ablation region to determine the desired ablated objectregion within a few seconds.